compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]

[diplfranzhoepfinger]

Describe the bug

Compiling with 5.1 Arduino and ESP-IDF 5.1.1 brings the following Warnings:

To reproduce

/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp: In function 'void MahonyAHRSupdate(float, float, float, float, float, float, float, float, float)':
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:122:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  122 |             integralFBx += twoKi * halfex *
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
  123 |                            (1.0f / sampleFreq);  // integral error scaled by Ki
      |                            ~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:124:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  124 |             integralFBy += twoKi * halfey * (1.0f / sampleFreq);
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:125:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  125 |             integralFBz += twoKi * halfez * (1.0f / sampleFreq);
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:148:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  148 |     q0 += (-qb * gx - qc * gy - q3 * gz);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:149:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  149 |     q1 += (qa * gx + qc * gz - q3 * gy);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:150:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  150 |     q2 += (qa * gy - qb * gz + q3 * gx);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:151:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  151 |     q3 += (qa * gz + qb * gy - qc * gx);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:155:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  155 |     q0 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:156:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  156 |     q1 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:157:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  157 |     q2 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:158:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  158 |     q3 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp: In function 'void MahonyAHRSupdateIMU(float, float, float, float, float, float, float*, float*, float*)':
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:194:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  194 |             integralFBx += twoKi * halfex *
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
  195 |                            (1.0f / sampleFreq);  // integral error scaled by Ki
      |                            ~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:196:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  196 |             integralFBy += twoKi * halfey * (1.0f / sampleFreq);
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:197:25: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  197 |             integralFBz += twoKi * halfez * (1.0f / sampleFreq);
      |             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:220:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  220 |     q0 += (-qb * gx - qc * gy - q3 * gz);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:221:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  221 |     q1 += (qa * gx + qc * gz - q3 * gy);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:222:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  222 |     q2 += (qa * gy - qb * gz + q3 * gx);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:223:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  223 |     q3 += (qa * gz + qb * gy - qc * gx);
      |     ~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:227:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  227 |     q0 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:228:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  228 |     q1 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:229:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  229 |     q2 *= recipNorm;
      |     ~~~^~~~~~~~~~~~
/home/franz/git/hr/RDAm5stick/m5stick/components/M5StickC/src/utility/MahonyAHRS.cpp:230:8: warning: compound assignment with 'volatile'-qualified left operand is deprecated [-Wvolatile]
  230 |     q3 *= recipNorm;
      |     ~~~^~~~~~~~~~~~